Yocto Image for H3ULCB+Kingfisher M04

What is the best way to create a Linux Yocto (preferably 3.21) for the H3ULCB+Kingfisher M04 configuration?

I tried the build instructions from here, but the image doesn't boot: https://elinux.org/R-Car/Boards/Kingfisher#Build_image

During the Kernel startup I get a panic:

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[ 1.531217] loop: module loaded [ 1.537959] renesas-rpc ee200000.rpc0: using DMA read (dma0chan0) [ 1.544521] Bad mode in Error handler detected on CPU1, code 0xbf000000 -- SError [ 1.552007] Internal error: Oops - bad mode: 0 [#1] PREEMPT SMP

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Full details here: http://renesasrulz.com/adas/f/adas---forum-1845141225/15725/boot-failure-on-renesas-h3ulcb-kingfisher-board-based-on-r8a7795-es2-0/51386#51386

How can I build a Image which supports the Kingfisher features (especially 8ch. audio and USB3.0): https://elinux.org/R-Car/Boards/Kingfisher#S.2FW_support_status

Khuber (talk)